Research and application of fuzzy PID precise control for robot moxibustion temperature
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摘要: 为准确控制艾灸体表皮肤温度，提高艾灸疗效，基于艾灸机器人设计一套智能艾灸温度控制系统，采用模糊PID控制算法稳定控制艾灸体表皮肤温度。结果表明，系统温度误差在 ± 0.4 ℃范围内波动，最大超调量小于1.3 ℃。与常规PID控制系统相比，基于模糊PID的智能艾灸温度控制系统的温度超调更小，稳定时间更快，控温精度更好，提高了患者舒适度。Abstract: In order to accurately control the surface skin temperature of moxibustion and improve the therapeutic effect of moxibustion, an intelligent moxibustion temperature control system was designed based on a moxibustion robot. The fuzzy PID control algorithm was used to stably control the surface skin temperature of moxibustion. Simulation result shows that the system temperature error always fluctuates within ± 0.4 ℃, and the maximum overshoot is less than 1.3 ℃. Compared with the conventional PID control system, the intelligent moxibustion temperature control system based on the fuzzy PID has smaller temperature overshoot, faster stabilization time, better temperature control accuracy, and can improve patient comfort.
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Key words:
- fuzzy PID /
- moxibustion robot /
- temperature sensor /
- Matlab simulation /
- temperature control
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图 1 智能艾灸温度控制系统组成原理图
Figure 1. Schematic diagram of intelligent moxibustion temperature control system
表 1 ΔKp、ΔKi、ΔKd模糊控制规则表
Table 1. Fuzzy control rule table of ΔKp, ΔKi, ΔKd
ΔKp,ΔKi,ΔKd e NB NM NS Z PS PM PB ec NB Z Z PS PS PM PM PM NM Z Z PS PS PM PM PM NS Z Z PS PS PM PM PM Z Z Z PS PS PM PM PM PS PM PS PS PS PM PM PM PM PS PS PM PM PB PB PB PB PS PS PM PM PB PB PB 
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